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Motion Planning for a Robot Arm by Using Genetic Algorithm 1.0
File ID: 78818






Motion Planning for a Robot Arm by Using Genetic Algorithm 1.0
Download Motion Planning for a Robot Arm by Using Genetic Algorithm 1.0http://www.mathworks.comReport Error Link
License: Freeware
File Size: 1.3 MB
Downloads: 208
User Rating:5 Stars  (1 rating)
Submit Rating:
Motion Planning for a Robot Arm by Using Genetic Algorithm 1.0 Description
Description: This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link (redundant) robot
arm. The objective function for the proposed GA is to minimizing traveling time and space, while not exceeding a maximum
pre-defined torque, without collision with any obstacle in the robot workspace. Quadrinomial and quintic polynomials are
used to describe the segments that connect initial, intermediate, and final point at joint-space. Direct kinematics has been used
for avoiding the singular configurations of the robot arm. To watch the paper which code made for it, follow this link.
http://jjmie.hu.edu.jo/files/JJMIE-V2-N3-press/2(16-21).pdf

License: Freeware

Related: initial, Connect, intermediate, final, Point, Segments, describe, quadrinomial, quintic, polynomials, areused, jointspace, Direct, paper, follow, Watch, configurations, kinematics

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 1.3 MB

Downloads: 208



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